THERMAL SCIENCE

International Scientific Journal

THERMAL VISION BASED INTELLIGENT SYSTEM FOR HUMAN DETECTION AND TRACKING IN MOBILE ROBOT CONTROL SYSTEM

ABSTRACT
This paper presents the results of the authors in thermal vision based mobile robot control. The most important segment of the high level control loop of mobile robot platform is an intelligent real-time algorithm for human detection and tracking. Temperature variations across same objects, air flow with different temperature gradients, reflections, person overlap while crossing each other, and many other non-linearities, uncertainty and noise, put challenges in thermal image processing and therefore the need of computationally intelligent algorithms for obtaining the efficient performance from human motion tracking system. The main goal was to enable mobile robot platform or any technical system to recognize the person in indoor environment, localize it and track it with accuracy high enough to allow adequate human-machine interaction. The developed computationally intelligent algorithms enables robust and reliable human detection and tracking based on neural network classifier and autoregressive neural network for time series prediction. Intelligent algorithm used for thermal image segmentation gives accurate inputs for classification.
KEYWORDS
PAPER SUBMITTED: 2016-04-01
PAPER REVISED: 2016-08-08
PAPER ACCEPTED: 2016-08-10
PUBLISHED ONLINE: 2016-12-25
DOI REFERENCE: https://doi.org/10.2298/TSCI16S5553C
CITATION EXPORT: view in browser or download as text file
THERMAL SCIENCE YEAR 2016, VOLUME 20, ISSUE Supplement 5, PAGES [S1553 - S1559]
REFERENCES
  1. Alvarez-Santos, V., et al., Feature Analysis for Human Recognition and Discrimination: Application to a Person-Following Behaviour in a Mobile Robot, Robotics and Autonomous Systems, 60 (2012), 8, pp. 1021-1036
  2. Boehme, H.-J., et al., An Approach to Multi-Modal Human-Machine Interaction for Intelligent Service Robots, Robotics and Autonomous Systems, 44 (2003), 1, pp. 83-96
  3. Borja, R., et al., Integration of Service Robots in the Smart Home by Means of UPnP: A Surveillance Robot Case Study, Robotics and Autonomous Systems, 61 (2013), 2, pp. 153-160
  4. Fernandez-Caballero, A., et al., Optical Flow or Image Subtraction in Human Detection from Infrared Camera on Mobile Robot, Robotics and Autonomous Systems, 58 (2010), 12, pp. 1273-1281
  5. Ćirić, I., et. al, Computationally Intelligent System for Thermal Vision People Detection and Tracking in Robotic Applications, Proceedings, 11th International Conference on Telecommunications in Modern Satellite, Cable and Broadcasting Services - TELSIKS 2013, Nis, Serbia, 2013, pp. 587-590
  6. Ćirić, I., et al., Intelligent Optimal Control of Thermal Vision-Based Person-Following Robot Platform, Thermal Science, 18 (2014), 3, pp. 957-966
  7. Ćirić I., et al., Intelligent Control of DaNi Robot Based on Robot Vision and Object Recognition, Facta Universitatis, Series: Automatic Control And Robotics, 11 (2012), 2, pp. 129-140
  8. Huang, Z., Leng, J., Analysis of Hu's Moment Invariants on Image Scaling and Rotation, Proceedings, 2nd International Conference on Computer Engineering and Technology (ICCET), 2010, 7, pp. 476-480
  9. Treptow, A., et al., Real-Time People Tracking for Mobile Robots Using Thermal Vision, Robotics and Autonomous Systems, 54 (2006), 9, pp. 729-739
  10. El-Bakry, H. M., Mastorakis, N., Fast Human Motion Tracking by Using High Speed Neural Networks, Proceedings, 9th WSEAS International Conference on Signal, Speech and Image Processing, and 9th WSEAS International Conference on Multimedia, Internet & Video Technologies, Budapest, Hungary, 2009, pp. 221-240
  11. Doulamis, N., et al., Adaptable Neural Networks for Modeling Recursive Non-Linear Systems, Proceedings, 14th International Conference on Digital Signal Processing, Santorini, Greece, 2002, 2, pp. 1191- 1194
  12. Yeredor A., Yule-Walker Equations Applied to Hessians of the Characteristic Function for Improved AR Estimation, Proceedings, IEEE International Conference on Acoustics, Speech and Signal Processing ICASSP, Honolulu, Hawai, 2007, 3, pp. 1025-1028
  13. Petrović, E., et. al., Stereo Vision-Based Human Tracking for Robotic Follower, International Journal of Advanced Robotic Systems, 2013, 10:230. doi: 10.5772/56124
  14. Ćirić, I., et. al., Thermal Vision Based Intelligent System for Human Detection and Tracking in Mobile Robot Control System, Proceedings, 17th Symposium on Thermal Science and Engineering of Serbia, Sokobanja, Serbia, 2015, pp. 730-740

© 2021 Society of Thermal Engineers of Serbia. Published by the Vinča Institute of Nuclear Sciences, Belgrade, Serbia. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution-NonCommercial-NoDerivs 4.0 International licence